Finite-Time Formation Control for Autonomous Underwater Vehicles Based on Hierarchical Leader-Follower
Dong Hao Wang, Jian Li Yuan, Juan Xu, Zhong Hai Zhou · Applied Mechanics and Materials · 2014
Finite-time Formation control of autonomous underwater vehicles (AUVs) is investigated. Considering the different communication ranges of multiple agents, we propose a hierarchical leader-follower finite-time consensus algorithm. The multiple agents are divided into three groups that are a global leader, local leaders and followers. Leaders form their positions according to their obtained information reliability. Simulations show the effectiveness of the proposed control scheme which can form predefined formation in finite time.